[Question] Robotiq 2F-85 Control Problem #2665
Replies: 4 comments
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Thank you for posting this. Could you elaborate on how you got to this? also, please share the versions of Isaac Sim and Isaac Lab you are using, as that may be as well why you are not seeing the expected output. |
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Following up on this, you may try to verify all parameters match, and other, such as |
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Hi @RandomOakForest is there any update on the similar issue here robotiq_2f85. |
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Thank you for following up. I'll move this to our Discussions section for follow up. There are several possible things to consider. In summary, the behavioral differences between Isaac Sim and Isaac Lab when controlling Robotiq grippers stem from three key implementation divergences: 1. Mimic Joint Configuration
# Isaac Lab requires explicit mapping for all dependent joints
gripper_actions = BinaryJointPositionActionCfg(
open_command_expr={
"finger_joint": 0.0,
"right_outer_knuckle_joint": 0.0,
"left_outer_finger_joint": 0.0,
# ... (all 8 dependent joints)
},
close_command_expr={
"finger_joint": 0.785,
"right_outer_knuckle_joint": 0.785,
# ... matching angular positions
}
) This explicit mapping compensates for Lab's lack of automatic mimic joint resolution2. 2. Actuator Parameter Mismatches
# Isaac Lab requires manual tuning vs Sim's presets
"finger_joint": ImplicitActuatorCfg(
stiffness=0.0, # Sim uses ~0.05 for UR compatibility
damping=5000.0 # Sim typically uses <100
) Over-damped configurations in Lab create artificial resistance to motion3. 3. Physics Engine Configuration
PGS solver with fewer substeps in Lab reduces contact resolution accuracy, causing joint overshoot3. References Footnotes |
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Question
The final results of controlling the robotiq gripper in Isaac Sim and in Isaac Lab are different, as shown in both videos, both controlling an active joint called Finger_joint. What is the reason for this.
2025.05.13.14.50.50.webm
2025.05.13.14.59.47.webm
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